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299 lines
11 KiB
C
299 lines
11 KiB
C
// MESSAGE ATTITUDE_QUATERNION PACKING
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#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION 31
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typedef struct __mavlink_attitude_quaternion_t {
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uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
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float q1; ///< Quaternion component 1
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float q2; ///< Quaternion component 2
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float q3; ///< Quaternion component 3
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float q4; ///< Quaternion component 4
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float rollspeed; ///< Roll angular speed (rad/s)
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float pitchspeed; ///< Pitch angular speed (rad/s)
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float yawspeed; ///< Yaw angular speed (rad/s)
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} mavlink_attitude_quaternion_t;
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#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN 32
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#define MAVLINK_MSG_ID_31_LEN 32
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#define MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION \
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{ \
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"ATTITUDE_QUATERNION", \
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8, \
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{ \
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{ "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_quaternion_t, time_boot_ms) }, \
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{ "q1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_quaternion_t, q1) }, \
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{ "q2", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_quaternion_t, q2) }, \
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{ "q3", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_quaternion_t, q3) }, \
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{ "q4", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_quaternion_t, q4) }, \
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{ "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_quaternion_t, rollspeed) }, \
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{ "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_quaternion_t, pitchspeed) }, \
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{ "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_quaternion_t, yawspeed) }, \
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} \
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}
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/**
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* @brief Pack a attitude_quaternion message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param time_boot_ms Timestamp (milliseconds since system boot)
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* @param q1 Quaternion component 1
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* @param q2 Quaternion component 2
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* @param q3 Quaternion component 3
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* @param q4 Quaternion component 4
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* @param rollspeed Roll angular speed (rad/s)
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* @param pitchspeed Pitch angular speed (rad/s)
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* @param yawspeed Yaw angular speed (rad/s)
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_attitude_quaternion_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
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uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[32];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_float(buf, 4, q1);
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_mav_put_float(buf, 8, q2);
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_mav_put_float(buf, 12, q3);
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_mav_put_float(buf, 16, q4);
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_mav_put_float(buf, 20, rollspeed);
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_mav_put_float(buf, 24, pitchspeed);
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_mav_put_float(buf, 28, yawspeed);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32);
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#else
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mavlink_attitude_quaternion_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.q1 = q1;
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packet.q2 = q2;
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packet.q3 = q3;
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packet.q4 = q4;
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packet.rollspeed = rollspeed;
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packet.pitchspeed = pitchspeed;
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packet.yawspeed = yawspeed;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32);
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#endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
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return mavlink_finalize_message(msg, system_id, component_id, 32, 246);
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}
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/**
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* @brief Pack a attitude_quaternion message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message was sent over
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* @param msg The MAVLink message to compress the data into
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* @param time_boot_ms Timestamp (milliseconds since system boot)
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* @param q1 Quaternion component 1
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* @param q2 Quaternion component 2
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* @param q3 Quaternion component 3
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* @param q4 Quaternion component 4
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* @param rollspeed Roll angular speed (rad/s)
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* @param pitchspeed Pitch angular speed (rad/s)
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* @param yawspeed Yaw angular speed (rad/s)
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_attitude_quaternion_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t *msg,
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uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[32];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_float(buf, 4, q1);
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_mav_put_float(buf, 8, q2);
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_mav_put_float(buf, 12, q3);
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_mav_put_float(buf, 16, q4);
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_mav_put_float(buf, 20, rollspeed);
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_mav_put_float(buf, 24, pitchspeed);
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_mav_put_float(buf, 28, yawspeed);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32);
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#else
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mavlink_attitude_quaternion_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.q1 = q1;
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packet.q2 = q2;
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packet.q3 = q3;
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packet.q4 = q4;
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packet.rollspeed = rollspeed;
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packet.pitchspeed = pitchspeed;
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packet.yawspeed = yawspeed;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32);
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#endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32, 246);
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}
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/**
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* @brief Encode a attitude_quaternion struct into a message
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param attitude_quaternion C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_attitude_quaternion_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg, const mavlink_attitude_quaternion_t *attitude_quaternion)
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{
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return mavlink_msg_attitude_quaternion_pack(system_id, component_id, msg, attitude_quaternion->time_boot_ms, attitude_quaternion->q1, attitude_quaternion->q2, attitude_quaternion->q3, attitude_quaternion->q4, attitude_quaternion->rollspeed, attitude_quaternion->pitchspeed, attitude_quaternion->yawspeed);
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}
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/**
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* @brief Send a attitude_quaternion message
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* @param chan MAVLink channel to send the message
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*
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* @param time_boot_ms Timestamp (milliseconds since system boot)
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* @param q1 Quaternion component 1
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* @param q2 Quaternion component 2
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* @param q3 Quaternion component 3
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* @param q4 Quaternion component 4
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* @param rollspeed Roll angular speed (rad/s)
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* @param pitchspeed Pitch angular speed (rad/s)
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* @param yawspeed Yaw angular speed (rad/s)
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_attitude_quaternion_send(mavlink_channel_t chan, uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[32];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_float(buf, 4, q1);
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_mav_put_float(buf, 8, q2);
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_mav_put_float(buf, 12, q3);
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_mav_put_float(buf, 16, q4);
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_mav_put_float(buf, 20, rollspeed);
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_mav_put_float(buf, 24, pitchspeed);
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_mav_put_float(buf, 28, yawspeed);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, 32, 246);
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#else
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mavlink_attitude_quaternion_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.q1 = q1;
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packet.q2 = q2;
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packet.q3 = q3;
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packet.q4 = q4;
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packet.rollspeed = rollspeed;
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packet.pitchspeed = pitchspeed;
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packet.yawspeed = yawspeed;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)&packet, 32, 246);
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#endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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}
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#endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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// MESSAGE ATTITUDE_QUATERNION UNPACKING
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/**
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* @brief Get field time_boot_ms from attitude_quaternion message
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*
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* @return Timestamp (milliseconds since system boot)
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*/
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static inline uint32_t mavlink_msg_attitude_quaternion_get_time_boot_ms(const mavlink_message_t *msg)
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{
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return _MAV_RETURN_uint32_t(msg, 0);
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}
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/**
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* @brief Get field q1 from attitude_quaternion message
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*
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* @return Quaternion component 1
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*/
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static inline float mavlink_msg_attitude_quaternion_get_q1(const mavlink_message_t *msg)
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{
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return _MAV_RETURN_float(msg, 4);
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}
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/**
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* @brief Get field q2 from attitude_quaternion message
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*
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* @return Quaternion component 2
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*/
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static inline float mavlink_msg_attitude_quaternion_get_q2(const mavlink_message_t *msg)
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{
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return _MAV_RETURN_float(msg, 8);
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}
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/**
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* @brief Get field q3 from attitude_quaternion message
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*
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* @return Quaternion component 3
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*/
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static inline float mavlink_msg_attitude_quaternion_get_q3(const mavlink_message_t *msg)
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{
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return _MAV_RETURN_float(msg, 12);
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}
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/**
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* @brief Get field q4 from attitude_quaternion message
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*
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* @return Quaternion component 4
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*/
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static inline float mavlink_msg_attitude_quaternion_get_q4(const mavlink_message_t *msg)
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{
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return _MAV_RETURN_float(msg, 16);
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}
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/**
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* @brief Get field rollspeed from attitude_quaternion message
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*
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* @return Roll angular speed (rad/s)
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*/
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static inline float mavlink_msg_attitude_quaternion_get_rollspeed(const mavlink_message_t *msg)
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{
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return _MAV_RETURN_float(msg, 20);
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}
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/**
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* @brief Get field pitchspeed from attitude_quaternion message
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*
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* @return Pitch angular speed (rad/s)
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*/
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static inline float mavlink_msg_attitude_quaternion_get_pitchspeed(const mavlink_message_t *msg)
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{
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return _MAV_RETURN_float(msg, 24);
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}
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/**
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* @brief Get field yawspeed from attitude_quaternion message
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*
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* @return Yaw angular speed (rad/s)
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*/
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static inline float mavlink_msg_attitude_quaternion_get_yawspeed(const mavlink_message_t *msg)
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{
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return _MAV_RETURN_float(msg, 28);
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}
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/**
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* @brief Decode a attitude_quaternion message into a struct
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*
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* @param msg The message to decode
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* @param attitude_quaternion C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_attitude_quaternion_decode(const mavlink_message_t *msg, mavlink_attitude_quaternion_t *attitude_quaternion)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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attitude_quaternion->time_boot_ms = mavlink_msg_attitude_quaternion_get_time_boot_ms(msg);
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attitude_quaternion->q1 = mavlink_msg_attitude_quaternion_get_q1(msg);
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attitude_quaternion->q2 = mavlink_msg_attitude_quaternion_get_q2(msg);
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attitude_quaternion->q3 = mavlink_msg_attitude_quaternion_get_q3(msg);
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attitude_quaternion->q4 = mavlink_msg_attitude_quaternion_get_q4(msg);
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attitude_quaternion->rollspeed = mavlink_msg_attitude_quaternion_get_rollspeed(msg);
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attitude_quaternion->pitchspeed = mavlink_msg_attitude_quaternion_get_pitchspeed(msg);
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attitude_quaternion->yawspeed = mavlink_msg_attitude_quaternion_get_yawspeed(msg);
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#else
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memcpy(attitude_quaternion, _MAV_PAYLOAD(msg), 32);
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#endif
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}
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